Design of the needle-driven robot for radio frequency ablation therapy based on ultrasound navigation
by Qinjun Du; Xueyi Zhang; Hui Chen
International Journal of Computer Applications in Technology (IJCAT), Vol. 42, No. 1, 2011

Abstract: The ultrasonic image guided radio frequency ablation surgery is an effective technique in liver tumour treatment. However, the traditional surgery imposes a constraint for surgeons to have high precision in their hand–eye coordination. This paper discusses the design of an assisted medical robot system to reduce these requirements; the needle-driven robot system consists of needle-driven robot, 3D model navigation and a magnetic tracker. In the pre-operative phase, 3D model of the liver tumour is reconstructed and the needle insertion path is planed. In the intra-operative phase, the surgeon matches the pre-operative 3D model of the liver with real patient’s liver. Then, the needle-driven robot moves accurately at the target point where the surgeon inserts the needle into the liver tumour to destroy the tumour with microwave coagulation. A small and compact medical robot is proposed based on workspace optimisation in this paper. Experimental results show that the needle-driven robot location errors are less than 0.2 mm, whereas the robot ultrasound navigation system errors are less than 2.5 mm.

Online publication date: Sun, 27-Nov-2011

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